mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 12:53:34 +08:00
Matthias Grob
ce3fcd503f
Used for winch, gripper, gimbal to reach the desired state before continuing the mission. Ideally we'd have feedback from all these components and not just a feed-forward delay.
165 lines
4.9 KiB
C
165 lines
4.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2014-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mission_params.c
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*
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* Parameters for mission.
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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/*
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* Mission parameters, accessible via MAVLink
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*/
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/**
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* Default take-off altitude
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*
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* This is the relative altitude the system will take off to
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* if not otherwise specified.
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*
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* @unit m
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* @min 0
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);
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/**
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* Mission takeoff/landing required
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*
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* Specifies if a mission has to contain a takeoff and/or mission landing.
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* Validity of configured takeoffs/landings is checked independently of the setting here.
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*
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* @value 0 No requirements
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* @value 1 Require a takeoff
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* @value 2 Require a landing
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* @value 3 Require a takeoff and a landing
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* @value 4 Require both a takeoff and a landing, or neither
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* @value 5 Same as previous when landed, in-air require landing only if no valid VTOL approach is present
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* @group Mission
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*/
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PARAM_DEFINE_INT32(MIS_TKO_LAND_REQ, 0);
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/**
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* Maximal horizontal distance from Home to first waypoint
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*
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* There will be a warning message if the current waypoint is more distant than MIS_DIST_1WP from Home.
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* Has no effect on mission validity.
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* Set a value of zero or less to disable.
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*
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* @unit m
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* @min -1
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* @max 100000
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* @decimal 1
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* @increment 100
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 10000);
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/**
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* Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
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*
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* If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction.
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* If disabled, the vehicle will yaw towards the ROI.
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*
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* @value 0 Disable
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* @value 1 Enable
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* @min 0
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* @max 1
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* @group Mission
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*/
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PARAM_DEFINE_INT32(MIS_MNT_YAW_CTL, 0);
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/**
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* Time in seconds we wait on reaching target heading at a waypoint if it is forced.
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*
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* If set > 0 it will ignore the target heading for normal waypoint acceptance. If the
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* waypoint forces the heading the timeout will matter. For example on VTOL forwards transition.
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* Mainly useful for VTOLs that have less yaw authority and might not reach target
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* yaw in wind. Disabled by default.
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*
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* @unit s
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* @min -1
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* @max 20
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* @decimal 1
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* @increment 1
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(MIS_YAW_TMT, -1.0f);
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/**
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* Max yaw error in degrees needed for waypoint heading acceptance.
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*
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* @unit deg
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* @min 0
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* @max 90
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* @decimal 1
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* @increment 1
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(MIS_YAW_ERR, 12.0f);
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/**
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* Landing abort min altitude
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*
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* Minimum altitude above landing point that the vehicle will climb to after an aborted landing.
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* Then vehicle will loiter in this altitude until further command is received.
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* Only applies to fixed-wing vehicles.
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*
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* @unit m
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* @min 0
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* @group Mission
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*/
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PARAM_DEFINE_INT32(MIS_LND_ABRT_ALT, 30);
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/**
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* Timeout to allow the payload to execute the mission command
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*
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* Ensure:
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* gripper: NAV_CMD_DO_GRIPPER
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* has released before continuing mission.
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* winch: CMD_DO_WINCH
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* has delivered before continuing mission.
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* gimbal: CMD_DO_GIMBAL_MANAGER_PITCHYAW
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* has reached the commanded orientation before beginning to take pictures.
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*
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* @unit s
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* @min 0
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* @decimal 1
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(MIS_COMMAND_TOUT, 0.f);
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